Stable Force Reconstruction from Acceleration Measurements - Theory and Experiment

Roland Falkensteiner, Richard Seeber, Martin Horn, Robert Tafner

Publikation: Beitrag in einer FachzeitschriftKonferenzartikelBegutachtung


This paper presents an unknown input observer for the estimation of external forces acting on mechanical systems from only acceleration measurements. To circumvent arising stability issues, a classical unknown input observer extended with an additional filter is proposed. The influence of the design parameter of the filter is analyzed. A guideline for the parameter tuning depending on predefined estimation goals is given. In contrast to existing methods, no prior knowledge about the unknown acting force is assumed in the design process. The performance of the presented concept is compared to a state-of-the-art approach in both simulation studies and on a experimental test setup.
Seiten (von - bis)4189-4195
PublikationsstatusVeröffentlicht - 2020
Veranstaltung21st IFAC World Congress - Virtuell, Deutschland
Dauer: 12 Juli 202017 Juli 2020


  • observer design
  • unknown input observer
  • force reconstruction
  • strong observability and detectability


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